传感技术学报2025，Vol.38Issue(11)：2062-2067,6.DOI:10.3969/j.issn.1004-1699.2025.11.018
基于传感器数据反馈的室内移动机器人导航定位方法
Navigation and Positioning Method for Indoor Mobile Robots Based on Sensor Data Feedback
摘要
Abstract
In order to improve the navigation and positioning accuracy of robots in complex environments,a navigation and positioning method for indoor mobile robots based on sensor data feedback is propose.Laser ranging sensors are used to perceive three-dimensional environmental information and obtain sensor data.To address data errors caused by active interference,mixed pixel interference,etc.,Kalman filtering algorithm is used for filtering processing.The motion characteristics of robot navigation within the global coordinate sys-tem are analyzed.Robot environment perception sensor data are used as input for neural network improved fuzzy controller,robot motion feature parameters are input,and various control parameters are repeatedly adjusted based on the objective function,thereby achieving indoor robot navigation and positioning under sensor data feedback.Experimental results show that the robot navigation displacement ob-tained by the proposed method fits well with the actual displacement.Further explanation shows that the proposed method can enhance the robot's environmental perception ability and has high navigation and positioning accuracy.关键词
室内移动机器人/导航定位/传感器数据反馈/卡尔曼滤波/改进模糊控制器Key words
indoor mobile robots/navigation positioning/sensor data feedback/Kalman filtering/improved fuzzy controller分类
信息技术与安全科学引用本文复制引用
轩春青,轩志伟..基于传感器数据反馈的室内移动机器人导航定位方法[J].传感技术学报,2025,38(11):2062-2067,6.基金项目
河南省科技厅科技攻关项目(232102220010) （232102220010）
河南省高等学校重点科研项目(23B520017) （23B520017）
